Automated pickup and drop off planning and execution for vehicles

A vehicle, comprising:

• a plurality of sensors;
• a controller including a processor and a tangible, non-transitory, machine-readable medium, wherein the controller is in communication with the a plurality of sensors, and the controller is programmed to:
• receive people-transfer data, wherein the people-transfer data includes passenger data and a destination data, the passenger data includes information about a person that will move between a vehicle and a pedestrian location outside the vehicle, the pedestrian location outside the vehicle is adjacent to an infrastructure, and the destination data includes information about the infrastructure and an area directly adjacent to the infrastructure;
• detect a plurality of restricted locations along the infrastructure using the destination data, wherein each of the plurality of restricted locations is unavailable for the vehicle to stop;
• determine a transfer location based on the plurality of restricted locations and the passenger data, wherein the transfer location is a position where the passenger will transfer between the vehicle and the pedestrian location outside the vehicle;
• and
• command the vehicle to perform a control action in response to determining the transfer location.